A projection-based making-human-feel-safe system for human-robot cooperation

Diyi Liu; Jun Kinugawa; Kazuhiro Kosuge

doi:10.1109/ICMA.2016.7558716

A projection-based making-human-feel-safe system for human-robot cooperation

Diyi Liu, Jun Kinugawa, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

When a person is working on a human robot cooperation system, he/she tends to worry about possible collisions with the robot, because of a lack of internal information about the robot. This internal information is, for example, an awareness of a worker's presence or future robot motion. Therefore, this paper proposes a projection-based making-human-feel-safe system that not only ensures the safety of a human worker but also ensures that the worker feels safe when working with a robot by displaying the internal information of the robot using projection technology. To develop this system, we utilized a Kalman filter for predicting a worker's hand position and compensating the delay in the projection. An elastic band framework was implemented to plan a safe path considering the position of the worker. Finally, an evaluation experiment was conducted to prove the effectiveness of the system.

Original language	English
Title of host publication	2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1101-1106
Number of pages	6
ISBN (Electronic)	9781509023943
DOIs	https://doi.org/10.1109/ICMA.2016.7558716
Publication status	Published - 2016 Sep 1
Event	13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 - Harbin, Heilongjiang, China Duration: 2016 Aug 7 → 2016 Aug 10

Publication series

Name	2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016

Other

Other	13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Country	China
City	Harbin, Heilongjiang
Period	16/8/7 → 16/8/10

Keywords

Human-Robot Cooperation
Make-human-feel-safe
Manipulator

ASJC Scopus subject areas

Mechanical Engineering
Artificial Intelligence
Computer Science Applications
Software

Access to Document

10.1109/ICMA.2016.7558716

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Cite this

Liu, D., Kinugawa, J., & Kosuge, K. (2016). A projection-based making-human-feel-safe system for human-robot cooperation. In 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 (pp. 1101-1106). [7558716] (2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2016.7558716

A projection-based making-human-feel-safe system for human-robot cooperation. / Liu, Diyi; Kinugawa, Jun ; Kosuge, Kazuhiro.

2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1101-1106 7558716 (2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Liu, D, Kinugawa, J & Kosuge, K 2016, A projection-based making-human-feel-safe system for human-robot cooperation. in 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016., 7558716, 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016, Institute of Electrical and Electronics Engineers Inc., pp. 1101-1106, 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016, Harbin, Heilongjiang, China, 16/8/7. https://doi.org/10.1109/ICMA.2016.7558716

Liu D, Kinugawa J , Kosuge K. A projection-based making-human-feel-safe system for human-robot cooperation. In 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1101-1106. 7558716. (2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016). https://doi.org/10.1109/ICMA.2016.7558716

Liu, Diyi ; Kinugawa, Jun ; Kosuge, Kazuhiro. / A projection-based making-human-feel-safe system for human-robot cooperation. 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1101-1106 (2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016).

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